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公开(公告)号：US11564700B2
公开(公告)日：2023-01-31
申请号：US17163951
申请日：2021-02-01
Applicant: Mazor Robotics Ltd.
Inventor： Eitan Detinis
Abstract: Devices, systems, and methods for drilling an anatomical element are provided. A drill bit may comprise a coaxial hollow shaft in communication with a plurality of apertures disposed on a surface of the drill bit. A fluid inlet may be in fluid communication with the coaxial hollow shaft via a selectively openable valve. The fluid inlet may be configured to receive pressurized fluid. When the valve is opened, the pressurized fluid may be released into the coaxial hollow shaft, and when at least one of the plurality of apertures is not blocked, the pressurized fluid may be released through the at least one aperture of the plurality of apertures.
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公开(公告)号：US20220401056A1
公开(公告)日：2022-12-22
申请号：US17353342
申请日：2021-06-21
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Avi Turgeman , Yonatan Ushpizin , Eli Zehavi , Eitan Detinis
Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a sensor coupled to at least one of the imaging source and imaging detector; and a controller that adjusts a relative position of the imaging source and the imaging detector based on an output of the sensor.
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公开(公告)号：US20220378521A1
公开(公告)日：2022-12-01
申请号：US17331081
申请日：2021-05-26
Applicant: Mazor Robotics Ltd.
Inventor： Avi Turgeman , Yonatan Ushpizin , Eli Zehavi , Ido Zucker
Abstract: A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.
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公开(公告)号：US20220346882A1
公开(公告)日：2022-11-03
申请号：US17713873
申请日：2022-04-05
Applicant: Mazor Robotics Ltd.
Inventor： Eli Zehavi , Yonatan Ushpizin , Ido Zucker , Adi Ess
Abstract: A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.
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公开(公告)号：US20220257320A1
公开(公告)日：2022-08-18
申请号：US17179168
申请日：2021-02-18
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Nir Ofer , Adi Sandelson , Yair S. Schwartz , Gillan M. Grimberg , Nimrod Dori , Maor Sviri , Amir Keret , Ziv Seemann
IPC: A61B34/10 , A61B34/30 , A61B90/00 , A61B90/50 , A61B17/17 , G16H40/67 , G16H20/40 , G16H50/50 , G16H30/20 , G16H30/40 , G16H50/70 , G16H10/60 , G06F30/20 , G06T11/00
Abstract: A system for skive avoidance includes a sensor configured to measure a force exerted on a surgical tool; at least one processor; and a memory. The memory stores instructions for execution by the at least one processor that, when executed, cause the at least one processor to: project a tool trajectory onto a three-dimensional (3D) model of bone tissue; and estimate an expected normal force direction and magnitude upon contact of the surgical tool with the bone tissue.
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Patent Agency Ranking
公开(公告)号：US20220241032A1
公开(公告)日：2022-08-04
申请号：US17575404
申请日：2022-01-13
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Yizhaq Shmayahu , Yonatan Ushpizin , Eliyahu Zehavi , Dany Junio
Abstract: Systems and methods for tracking a pose of a target and/or tracking the target is provided. A first robotic arm may be configured to orient a first imaging device and a second robotic arm may be configured to orient a second imaging device. The first robotic arm and the second robotic arm may operate in a shared or common coordinate space. A first image may be received from the first imaging device and a second image may be received from the second imaging device. The first image and the second image may depict at least one target. A pose of the at least one target may be determined in the coordinate space based on the first image, a corresponding first pose, the second image, and a corresponding second pose.
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公开(公告)号：US20220241031A1
公开(公告)日：2022-08-04
申请号：US17575320
申请日：2022-01-13
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio
Abstract: Systems and methods for inserting a rod is provided. At least one tower extending from a head of a corresponding implanted pedicle screw may be tracked to identify a tower movement. An insertion point and a path from the insertion point to the at least one tower may be calculated. The rod may be inserted at the insertion point and along the rod and the path may be adjusted during insertion of the rod based on identified tower movement.
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公开(公告)号：US20220218421A1
公开(公告)日：2022-07-14
申请号：US17569957
申请日：2022-01-06
Applicant: Mazor Robotics Ltd.
Inventor： Dany Junio , Aviv Ellman , Eli Zehavi , Moshe Shoham , Yonatan Ushpizin , Ido Zucker , Elad Ratzabi , Gillan Grimberg , Nir Ofer , Yair Schwartz , Nimrod Dori
Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.
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公开(公告)号：US20220192773A1
公开(公告)日：2022-06-23
申请号：US17526873
申请日：2021-11-15
Applicant: Mazor Robotics Ltd.
Inventor： Ido Zucker , Yonatan Ushpizin , Eliyahu Zehavi
Abstract: Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.
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公开(公告)号：US20220183766A1
公开(公告)日：2022-06-16
申请号：US17490753
申请日：2021-09-30
Applicant: Mazor Robotics Ltd.
Inventor： Ziv Seemann , Adi Sandelson , Dor Kopito , Nimrod Dori , Gal Eshed , Dany Junio , Elad Ratzabi
Abstract: A method for determining a work volume includes receiving image information from an imaging device corresponding to an array of tracking markers fixed to a flexible mesh, the mesh placed over a patient and over at least one surgical instrument adjacent to or connected to the patient; determining a position of each tracking marker in the array of tracking markers based on the image information; defining a boundary for movement of a robotic arm based on determined tracking marker positions, such that the robotic arm does not contact the patient or the at least one surgical instrument during movement of the robotic arm; and controlling the robotic arm based on the defined boundary.
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